version: 66.08
glider: 168
mission: 2
dive: 455
start: 11 8 110 5 50 11
data:
$ID,168
$MISSION,2
$DIVE,455
$N_DIVES,468
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,240
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,0
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02625
$MASS,51866
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3804.8042
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,3252
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,3068
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.994087
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042824708
$SEABIRD_T_H,0.00062080647
$SEABIRD_T_I,2.3031862e-05
$SEABIRD_T_J,2.5001771e-06
$SEABIRD_C_G,-9.8237314
$SEABIRD_C_H,1.1028168
$SEABIRD_C_I,-0.0011486846
$SEABIRD_C_J,0.00017813468
$GPS1,081110,054425,2142.854,12604.821,41,1.2,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.84
$_SM_ANGLEo,-75.4
$GPS2,081110,054943,2142.850,12604.809,10,1.8,10,-3.0
$SPEED_LIMITS,0.241,0.322
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,183.7,39844,-20.6,-13.889
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-185.1,0.0,0.0,0,24,0.00,0.00,-6.57,0.000,2,0.000,0.000,104,1527,1024,0,0,0,0,0,0
$GC,26,-0.68,-185.1,3.9,-0.0,1,153,9.88,2.20,-105.10,0.000,4,0.168,0.066,3032,171,3825,0,0,0,0,0,0
$GC,262,-0.65,-185.1,33.7,-24.1,40,270,0.08,2.08,0.00,0.000,6,0.174,0.040,3044,1536,3826,0,0,0,0,0,0
$GC,607,-0.62,-185.1,118.3,-21.1,101,613,0.00,2.15,0.00,0.000,4,0.000,0.053,3044,166,3826,0,0,0,0,0,0
$GC,637,-0.59,-185.1,125.1,-22.0,106,645,0.10,2.10,0.00,0.000,6,0.154,0.039,3068,1541,3827,0,0,0,0,0,0
$GC,980,-0.61,-185.1,177.5,-14.4,167,988,0.00,2.17,0.00,0.000,4,0.000,0.044,3059,2962,3828,0,0,0,0,0,0
$GC,1051,-0.66,-185.1,186.0,-10.7,179,1059,0.08,2.17,0.00,0.000,6,0.113,0.041,2940,1534,3828,0,0,0,0,0,0
$GC,1399,-0.59,-185.1,273.7,-25.3,240,1406,0.35,2.15,0.00,0.000,4,0.118,0.054,3063,163,3829,0,0,0,0,0,0
$GC,1470,-0.65,-185.1,285.3,-10.8,252,1478,0.08,2.08,0.00,0.000,6,0.116,0.037,2969,1537,3829,0,0,0,0,0,0
$GC,1802,-0.61,-185.1,350.1,-19.4,290,1807,0.25,2.17,0.00,0.000,4,0.109,0.041,3052,2961,3829,0,0,0,0,0,0
$GC,1876,-0.69,-185.1,358.2,-7.9,296,1880,0.08,2.17,0.00,0.000,6,0.115,0.041,2950,1537,3829,0,0,0,0,0,0
$GC,2203,-0.64,-185.1,422.6,-20.1,326,2208,0.28,2.20,0.00,0.000,4,0.116,0.041,3036,2958,3828,0,0,0,0,0,0
$GC,2265,-0.71,-185.1,430.0,-8.0,331,2269,0.00,2.17,0.00,0.000,6,0.000,0.043,3036,1551,3828,0,0,0,0,0,0
$GC,2591,-0.74,-185.1,462.9,-11.2,361,2593,0.08,0.00,0.00,0.000,6,0.117,0.000,2929,1550,3826,0,0,0,0,0,0
$GC,2909,-0.69,-185.1,529.9,-20.4,391,2914,0.30,2.20,0.00,0.000,4,0.115,0.042,3021,2961,3824,0,0,0,0,0,0
$GC,2942,-0.72,-185.1,534.9,-12.0,393,2948,0.00,2.17,0.00,0.000,6,0.000,0.044,3021,1552,3824,0,0,0,0,0,0
$GC,3268,-0.75,-185.1,567.7,-10.5,424,3272,0.00,2.17,0.00,0.000,4,0.000,0.047,3017,2956,3822,0,0,0,0,0,0
$GC,3297,-0.79,-185.1,570.6,-10.0,426,3302,0.08,2.17,0.00,0.000,6,0.114,0.046,2919,1554,3821,0,0,0,0,0,0
$GC,3620,-0.74,-185.1,633.9,-20.9,448,3625,0.28,2.20,0.00,0.000,4,0.119,0.057,3016,161,3818,0,0,0,0,0,0
$GC,3637,-0.71,-185.1,637.8,-20.5,449,3642,0.08,2.12,0.00,0.000,6,0.161,0.041,3033,1556,3818,0,0,0,0,0,0
$GC,3972,-0.75,-185.1,669.2,-8.9,465,3977,0.08,2.20,0.00,0.000,4,0.119,0.048,2921,2960,3815,0,0,0,0,0,0
$GC,4021,-0.74,-185.1,676.8,-16.5,467,4026,0.30,2.20,0.00,0.000,6,0.101,0.047,3024,1558,3815,0,0,0,0,0,0
$GC,4339,-0.78,-185.1,709.2,-9.8,482,4341,0.08,0.00,0.00,0.000,6,0.118,0.000,2928,1557,3812,0,0,0,0,0,0
$GC,4648,-0.74,-185.1,762.4,-17.6,497,4652,0.25,2.20,0.00,0.000,4,0.117,0.047,3009,2957,3808,0,0,0,0,0,0
$GC,4688,-0.79,-185.1,767.4,-9.4,499,4692,0.00,2.20,0.00,0.000,6,0.000,0.050,3009,1557,3809,0,0,0,0,0,0
$GC,5021,-0.82,-185.1,800.1,-10.1,515,5023,0.08,0.00,0.00,0.000,6,0.117,0.000,2904,1557,3807,0,0,0,0,0,0
$GC,5329,-0.77,-185.1,858.4,-19.3,530,5334,0.28,2.20,0.00,0.000,4,0.114,0.047,2992,2956,3803,0,0,0,0,0,0
$GC,5357,-0.77,-185.1,862.7,-14.1,531,5361,0.00,2.20,0.00,0.000,6,0.000,0.052,2992,1562,3803,0,0,0,0,0,0
$GC,5673,-0.79,-185.1,893.7,-9.9,546,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1561,3801,0,0,0,0,0,0
$GC,5982,-0.82,-185.1,925.6,-10.4,561,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1562,3798,0,0,0,0,0,0
$GC,6293,-0.84,-185.1,958.4,-10.9,576,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1562,3796,0,0,0,0,0,0
$GC,6601,-0.87,-185.1,991.6,-11.1,591,6603,0.08,0.00,0.00,0.000,6,0.116,0.000,2888,1562,3795,0,0,0,0,0,0
$STATE,6660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6660,begin apogee
$GC,6666,0.00,0.0,1002.3,15.9,594,6824,1.02,0.00,152.95,1.220,4,0.101,0.000,3246,1711,3068,0,0,0,0,0,0
$STATE,6825,end apogee,CONTROL_FINISHED_OK
$STATE,6825,begin climb
$GC,6827,0.68,185.1,1010.2,0.0,601,6997,0.60,2.45,161.85,1.151,4,0.029,0.064,3524,293,2313,0,0,0,0,0,0
$GC,7041,0.61,185.1,983.7,21.7,611,7046,0.28,2.25,0.00,0.000,6,0.142,0.034,3444,1700,2305,0,0,0,0,0,0
$GC,7359,0.57,185.1,931.0,16.5,626,7363,0.00,2.17,0.00,0.000,4,0.000,0.042,3444,3116,2296,0,0,0,0,0,0
$GC,7391,0.54,185.1,924.9,17.3,627,7399,0.10,2.28,0.00,0.000,6,0.172,0.049,3427,1697,2296,0,0,0,0,0,0
$GC,7708,0.52,185.1,875.9,15.7,643,7712,0.00,2.28,0.00,0.000,4,0.000,0.064,3437,284,2294,0,0,0,0,0,0
$GC,7730,0.50,185.1,871.9,17.0,644,7735,0.10,2.15,0.00,0.000,6,0.153,0.035,3407,1700,2293,0,0,0,0,0,0
$GC,8052,0.50,185.4,826.4,13.9,660,8056,0.00,2.17,0.00,0.000,4,0.000,0.044,3407,3105,2293,0,0,0,0,0,0
$GC,8079,0.50,185.4,822.3,14.3,661,8083,0.00,2.25,0.00,0.000,6,0.000,0.049,3415,1699,2292,0,0,0,0,0,0
$GC,8401,0.52,206.1,779.2,12.8,677,8425,0.00,2.30,16.27,1.066,4,0.000,0.064,3426,290,2226,0,0,0,0,0,0
$GC,8450,0.55,230.3,773.1,12.7,679,8479,0.00,2.15,22.80,1.049,6,0.000,0.036,3426,1696,2128,0,0,0,0,0,0
$GC,8803,0.55,230.3,724.4,14.1,696,8807,0.00,2.17,0.00,0.000,4,0.000,0.044,3426,3107,2121,0,0,0,0,0,0
$GC,8824,0.55,230.3,720.8,14.7,697,8829,0.00,2.30,0.00,0.000,6,0.000,0.048,3436,1689,2120,0,0,0,0,0,0
$GC,9153,0.54,230.3,672.4,15.2,713,9157,0.00,2.28,0.00,0.000,4,0.000,0.065,3447,287,2120,0,0,0,0,0,0
$GC,9186,0.53,230.3,666.7,16.0,714,9194,0.10,2.15,0.00,0.000,6,0.151,0.036,3416,1688,2118,0,0,0,0,0,0
$GC,9505,0.54,232.8,623.3,13.8,730,9509,0.00,2.17,0.00,0.000,4,0.000,0.044,3416,3110,2117,0,0,0,0,0,0
$GC,9527,0.55,232.8,619.4,14.4,731,9531,0.00,2.28,0.00,0.000,6,0.000,0.048,3422,1692,2117,0,0,0,0,0,0
$GC,9851,0.59,263.5,576.3,12.3,755,9886,0.08,2.38,28.52,0.980,4,0.119,0.064,3503,289,1993,0,0,0,0,0,0
$GC,9945,0.55,263.5,559.6,18.6,763,9950,0.25,2.15,0.00,0.000,6,0.123,0.035,3424,1678,1987,0,0,0,0,0,0
$GC,10273,0.61,300.6,518.9,12.0,793,10311,0.08,2.35,32.00,0.898,4,0.121,0.063,3507,267,1842,0,0,0,0,0,0
$GC,10330,0.57,300.6,508.8,20.2,798,10334,0.25,2.20,0.00,0.000,6,0.124,0.034,3429,1675,1840,0,0,0,0,0,0
$GC,10655,0.59,303.7,462.9,13.7,828,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1678,1834,0,0,0,0,0,0
$GC,10976,0.63,313.0,420.8,13.4,858,10992,0.08,2.25,10.52,0.804,4,0.118,0.062,3519,285,1792,0,0,0,0,0,0
$GC,11054,0.60,313.0,405.4,20.3,864,11062,0.25,2.10,0.00,0.000,6,0.122,0.034,3440,1671,1790,0,0,0,0,0,0
$GC,11380,0.64,329.9,360.4,13.0,895,11403,0.00,2.28,15.60,0.794,4,0.000,0.062,3451,286,1722,0,0,0,0,0,0
$GC,11428,0.68,342.9,354.0,13.2,899,11450,0.08,2.08,12.55,0.762,6,0.116,0.033,3530,1661,1669,0,0,0,0,0,0
$GC,11771,0.64,342.9,280.0,21.4,939,11779,0.25,2.20,0.00,0.000,4,0.136,0.059,3456,290,1664,0,0,0,0,0,0
$GC,11793,0.62,342.9,276.1,19.0,942,11799,0.00,2.05,0.00,0.000,6,0.000,0.031,3456,1659,1664,0,0,0,0,0,0
$GC,12138,0.68,370.0,233.3,12.5,1003,12169,0.00,2.25,23.10,0.708,4,0.000,0.060,3458,290,1559,0,0,0,0,0,0
$GC,12206,0.80,429.9,225.3,10.9,1014,12262,0.15,2.05,50.15,0.705,6,0.065,0.031,3578,1652,1315,0,0,0,0,0,0
$GC,12596,0.77,429.9,130.6,20.8,1083,12605,0.25,2.20,0.00,0.000,4,0.136,0.056,3503,290,1307,0,0,0,0,0,0
$GC,12635,0.79,429.9,124.1,14.4,1089,12643,0.00,2.03,0.00,0.000,6,0.000,0.032,3503,1641,1305,0,0,0,0,0,0
$GC,12980,0.97,532.7,89.6,8.7,1150,13066,0.17,2.38,79.25,0.583,4,0.059,0.035,3621,3114,895,0,0,0,0,0,0
$GC,13080,0.94,532.7,69.1,23.7,1166,13088,0.25,2.40,0.00,0.000,6,0.123,0.046,3551,1629,892,0,0,0,0,0,0
$GC,13427,0.97,532.7,17.6,15.1,1227,13434,0.00,2.15,0.00,0.000,4,0.000,0.058,3561,280,890,0,0,0,0,0,0
$GC,13523,1.13,610.0,6.8,10.0,1244,13551,0.15,2.00,21.95,0.493,2,0.070,0.030,3671,1632,766,0,0,0,0,0,0
$STATE,13552,end climb,SURFACE_DEPTH_REACHED
$STATE,13552,begin surface coast
$FINISH,2.9,1.010918
$STATE,13568,end surface coast,CONTROL_FINISHED_OK
$STATE,13568,begin surface
$SM_CCo,13571,43.90,0.499,0,0,414,650.78
$SM_GC,3.82,8.80,0.00,0.00,0.020,0.000,0.000,104,1526,410,-9.68,-0.68,652.01
$IRIDIUM_FIX,2136.49,12603.01,081110,010115
$TT8_MAMPS,0.026964
$HUMID,47.28
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.50
$XPDR_PINGS,4
$24V_AH,23.0,63.361
$10V_AH,10.1,45.441
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.350,127.725,627.525,43.900,0.000,28.748,21.081,146.625,1.000,0.000,10.983,3082.699,7687.142,753.462,2236.992,278.463,0.000,1906.906,0.000,2030.678,0.000,0.539,0.000
$DEVICE_MAMPS,174.420,84.150,1220.175,498.780,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.499,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,70360,1251
$CAP_FILE_SIZE,161620,0
$CFSIZE,260165632,225796096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,239.5,1
$GPS,081110,094007,2140.591,12604.177,34,1.0,34,-3.0